Automatic traveling system, automatic traveling method, and automatic traveling program

Abstract

A positioning unit measures the position of a tractor. An automatic traveling control unit causes the tractor to automatically travel according to a target route on the basis of positioning information of the positioning unit. In the case where the tractor changes its direction on a direction change route, when the distance from a field to an end position at which the front-rear direction of the tractor is switched is less than a predetermined distance, the automatic traveling controller executes deceleration processing of decelerating a target speed of the tractor toward the end position.

The invention claimed is: 
     
         1 . An automatic traveling method executing:
 generating a target route including a work route on which a work vehicle moves forward on a field and a direction change route on which the work vehicle changes its direction;   measuring the position of the work vehicle;   causing the work vehicle to automatically travel along the target route based on the position of the work vehicle; and   executing a deceleration processing of decelerating a target speed of the work vehicle toward a direction change position at which a front-rear direction of the work vehicle is switched if the direction change position is within a predetermined distance from a predetermined area in a traveling direction of the work vehicle immediately before the work vehicle reaches the direction change position in a case where the work vehicle changes its direction on the direction change route.   
     
     
         2 . The automatic traveling method according to  claim 1 , wherein the deceleration processing is not executed in a case where the direction change position of the work vehicle is equal to or more than the predetermined distance from the predetermined area in the traveling direction of the work vehicle immediately before the work vehicle reaches the direction change position. 
     
     
         3 . The automatic traveling method according to  claim 1 , wherein when the work vehicle changes its direction at the target speed on the direction change route, the deceleration processing is executed if the work vehicle enters the predetermined area. 
     
     
         4 . The automatic traveling method according to  claim 1 , wherein even when the work vehicle changes its direction at the target speed on the direction change route, the deceleration process is not executed if the work vehicle does not enter the predetermined area. 
     
     
         5 . The automatic traveling method according to  claim 4 , wherein a switching instruction for switching the traveling direction is output to the work vehicle when the work vehicle reaches a predetermined position. 
     
     
         6 . The automatic traveling method according to  claim 5 , wherein the switching instruction is output to the work vehicle to cause the work vehicle to stop working and cause the work vehicle to travel a braking distance to a target position. 
     
     
         7 . The automatic traveling method according to  claim 5 , wherein in a case where the work vehicle works while moving forward on a work area and changes its direction on a non-work area, the switching instruction is not output to the work vehicle while the work vehicle is moving forward on the work area. 
     
     
         8 . The automatic traveling method according to  claim 7 , wherein the switching instruction is not output to the work vehicle while the work vehicle is moving backward on the work area. 
     
     
         9 . An automatic traveling system comprising:
 a route generation processor that generates a target route including a work route on which a work vehicle moves forward on a field and a direction change route on which the work vehicle changes its direction;   a positioning processor that measures a position of the work vehicle; and   a traveling processor that causes the work vehicle to automatically travel along the target route based on positioning information from the positioning processor,   wherein the traveling processor executes a deceleration processing of decelerating a target speed of the work vehicle toward a direction change position at which a front-rear direction of the work vehicle is switched if the direction change position is within a predetermined distance from a predetermined area in a traveling direction of the work vehicle immediately before the work vehicle reaches the direction change position in a case where the work vehicle changes its direction on the direction change route.   
     
     
         10 . A computer-readable non-transitory medium storing an automatic traveling program causing one or more processors to execute:
 generating a target route including a work route on which a work vehicle moves forward on a field and a direction change route on which the work vehicle changes its direction;   measuring the position of the work vehicle;   causing the work vehicle to automatically travel along the target route based on the position of the work vehicle; and   executing a deceleration processing of decelerating a target speed of the work vehicle toward a direction change position at which a front-rear direction of the work vehicle is switched if the direction change position is within a predetermined distance from a predetermined area in a traveling direction of the work vehicle immediately before the work vehicle reaches the direction change position in a case where the work vehicle changes its direction on the direction change route.